Yes, at least according to Apple: https://www.apple.com/business/docs/iOS_Security_Guide.pdf (page 7).

"The Secure Enclave is responsible for processing fingerprint data from the Touch ID sensor, determining if there is a match against registered fingerprints, and then enabling access or purchases on behalf of the user. Communication between the processor and the Touch ID sensor takes place over a serial peripheral interface bus. The processor forwards the data to the Secure Enclave but _cannot_ read it".